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A Collaborative RTK Approach to Precise Positioning for Vehicle Swarms in Urban Scenarios

Medina, Daniel and Calatrava, Helena and Castro Arvizu, Juan Manuel and Closas, Pau and Vilà-Valls, Jordi (2023) A Collaborative RTK Approach to Precise Positioning for Vehicle Swarms in Urban Scenarios. In: 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS). IEEE/ION PLANS 2023, 2023-04-24 - 2023-04-27, Monterey, California, US. doi: 10.1109/PLANS53410.2023.10139996. ISBN 978-1-6654-1772-3. ISSN 2153-3598.

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Location information is fundamental in nowadays society and key for prospective driverless vehicles and a plethora of safety-critical applications. Global Navigation Satellite Systems (GNSS) constitute the main information supplier for outdoor positioning, with worldwide all-weather availability. While the use of GNSS carrier phase observations leads to precise location estimates, its performance can be easily jeopardized in urban scenarios, where satellite availability may be limited or observations may be corrupted by harsh propagation conditions. The satellite shortage is especially relevant for Real Time Kinematic (RTK), whose capability to estimate a precise positioning solution rapidly decays with weak observation models. To address this limitation, this article introduces the concept of collaborative RTK (C-RTK), an approach to precise positioning using swarms of vehicles, where a set of users participate in the vehicle network. The idea is that users with good satellite visibility assist users that evolve in constrained environments. This work introduces the C-RTK functional model, an estimation solution and associated performance bounds. Illustrative Monte Carlo simulation results are provided, which highlight that, by exploiting the cross-correlation terms present among the users' observations, C-RTK improves their positioning their of accuracy and availability.

Item URL in elib:https://elib.dlr.de/195142/
Document Type:Conference or Workshop Item (Lecture)
Title:A Collaborative RTK Approach to Precise Positioning for Vehicle Swarms in Urban Scenarios
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Medina, DanielUNSPECIFIEDhttps://orcid.org/0000-0002-1586-3269UNSPECIFIED
Closas, PauUNSPECIFIEDhttps://orcid.org/0000-0002-5960-6600UNSPECIFIED
Vilà-Valls, JordiUNSPECIFIEDhttps://orcid.org/0000-0001-7858-4171UNSPECIFIED
Date:April 2023
Journal or Publication Title:2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:GNSS, Precise Positioning, Real Time Kinematic (RTK), Cooperative Localization
Event Title:IEEE/ION PLANS 2023
Event Location:Monterey, California, US
Event Type:international Conference
Event Start Date:24 April 2023
Event End Date:27 April 2023
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication, Navigation, Quantum Technology
DLR - Research area:Raumfahrt
DLR - Program:R KNQ - Communication, Navigation, Quantum Technology
DLR - Research theme (Project):R - Project Global Connectivity - HAP [KNQ], V - FuturePorts
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Medina, Daniel
Deposited On:01 Jun 2023 14:41
Last Modified:27 May 2024 12:43

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